Evaluation of contact between a human hand and a robot end tip for designing a dummy
Evaluation of contact between a human hand and a robot end tip for designing a dummy
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评估人手与机器人末端之间的接触以设计假人
DOI：
10.1299/jsmermd.2019.2a1-f08
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Jian Liu
中科院分区：
文献类型：
--
作者：
Yumena Iki;Yoji Yamada;Yasuhiro Akiyama;S. Okamoto;Kuniyuki Niwa;Jian Liu
在人机协作领域，虽然ISO/TS 15066已经提供了安全验证数据作为信息性数据，但没有建立验证的测试方法。在本研究中，我们设计了接近人的机械性能的假手，并提出了使用假人进行测试的方法。为了设计这样的假人，我们通过进行动态实验来估计人体的物理参数，在实验中，每只手的三个点被夹住，作为第一步来展示最坏的情况。为了进行动态实验，我们在足够安全的前提下设计了冲击力测量装置。因此，我们测量了冲击力的转移，并估计了各种条件下人体的物理参数。
In the field of robot-human collaboration, while safety verification data are already provided in ISO/TS 15066 as informative data, a testing method for validation is not established. In our study, we design the dummy hand the mechanical property of which is close to that of human to propose the testing method using the dummy. In order to design such dummy, we estimate human physical parameters by conducting dynamic experiment in which three points in each hand of the subjects were clamped as demonstrating the worst case of impacting a hand as the first step. For conducting dynamic experiment, we design impact force measurement device in consideration of safety enough. As a result, we measure transition of impact force, and estimate human physical parameters under various conditions.